Multi-agent autonomous system

ABSTRACT

A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. application Ser. No. 10/625,834entitled “MULTI-AGENT AUTONOMOUS SYSTEM,” filed Jul. 22, 2003, whichclaims the benefit of U.S. Provisional Patent Application No.60/398,052, filed Jul. 22, 2002 and U.S. Provisional Patent ApplicationNo. 60/473,726, filed May 28, 2003, each of which are herebyincorporated by reference as if fully stated herein.

BACKGROUND OF THE INVENTION

This invention relates generally to autonomous agents and morespecifically to autonomous agents for exploration of hazardous orinaccessible locations.

Robotic reconnaissance operations are called for in potentiallyhazardous and/or inaccessible situations such as remote planetarysurfaces. One approach to reconnaissance operations is to use a fewsophisticated, expensive, highly capable and reasoning surface-basedreconnaissance craft (e.g., rovers). In this case the reconnaissancemission is lost or adversely affected when one of the few roboticreconnaissance craft is damaged or destroyed because there is noredundancy.

In addition, rovers are spatially constrained in that they may only viewa small portion of an explored area at a time. For example, as mostrovers are tracked or wheeled surface-based craft, their elevation abovethe ground provides only a limited viewing range. Therefore, it isdifficult for a rover to view a large enough area to make an intelligentdecision about what features in an operational area are worthy ofadditional investigation.

The spatial constraint of a rover also causes difficulties when planninga path for the rover to follow when traveling through the operationalarea. As such, the rover may construct a locally optimal path through anoperational area but not a globally optimal path because the rover maynot be able to view a large enough area.

As an intelligent rover is expensive, both from the perspective of thecapital cost to build and the resource cost to deploy and operate, onlya single rover is typically deployed within an operational area. Thismeans that any operational area is constrained to an area no larger thanwhat a single rover can explore.

Finally, because loss of a single rover during an exploration missionmay be catastrophic from the perspective of accomplishing an explorationmission's goals, there has been a reluctance within the roboticscommunity to allow a rover to be truly autonomous. True autonomy meansthat a rover would be able to make its own decisions about where to gowithin an exploration space. If the logic controlling the operations ofthe rover is faulty, and the rover makes a decision that causes it tobecome inoperable, the mission may be lost. As such, most currentlydeployed rovers are not truly autonomous as they are at least partiallycontrolled by teleoperation by a human.

Therefore, a need exists for a robotic reconnaissance system that usesinexpensive surface-based craft that are inexpensive enough, both interms of capital cost and operational resources, that multiplesurface-based craft can be deployed during a mission. Multiplesurface-based craft provide redundancy in the case a surface-based craftis lost. In addition, multiple surface-based craft may explore a largerarea than a single rover. Finally, as loss of one or more of themultiple surface-based craft will not destroy a mission, the roboticreconnaissance system may be allowed more autonomy in making decisionsabout what paths to take while exploring an area. Aspects of the presentinvention meet such need.

SUMMARY OF THE INVENTION

A multi-agent autonomous system for exploration of hazardous orinaccessible locations. The multi-agent autonomous system includessimple surface-based agents or craft controlled by an airborne trackingand command system. The airborne tracking and command system includes aninstrument suite used to image an operational area and any craftdeployed within the operational area. The image data is used to identifythe craft, targets for exploration, and obstacles in the operationalarea. The tracking and command system determines paths for thesurface-based craft using the identified targets and obstacles andcommands the craft using simple movement commands to move through theoperational area to the targets while avoiding the obstacles. Each craftincludes its own instrument suite to collect surface-based informationabout the operational area that is transmitted back to the tracking andcommand system. The tracking and command system may be further coupledto a satellite system to provide additional image information about theoperational area.

In one aspect of the invention, a method for controlling a surface-basedcraft within an operational area is provided. The method includesproviding a tracking and command system coupled to the surface-basedcraft through a transceiver. The tracking and command system generatesan image of an operational area and uses the image to generate a pathfor the surface-based craft. The tracking and command system thengenerates a set of craft commands for the surface-based craft using thepath and transmits the craft commands to the surface-based craft via thetransceiver. In response to the craft commands, the surface-based craftmoves through the operational area.

In another aspect of the invention, generating a path for thesurface-based craft further includes identifying the surface-basedcraft's position within the operational area and identifying a target bythe tracking and command system using the image. The tracking andcommand system then determines a path between the craft's position andthe target.

In another aspect of the invention, the surface-based craft furtherincludes an instrument suite. Generating a path for the surface-basedcraft further includes collecting surface-based information from theinstrument suite and transmitting the surface-based information from thecraft to the tracking and command system. The tracking and commandsystem may then generate a path for the surface-based craft using thesurface-based information.

In another aspect of the invention, the tracking and command system isairborne. The tracking and command system may be supported by alighter-than-air or a heavier-than-air aircraft. The lighter-than-airaircraft may be tethered or may include a thrust generating element.

In another aspect of the invention, the surface-based craft includes aproximity detector and a controller programmed to use signals from theproximity detector to avoid collisions.

In another aspect of the invention, a multi-agent autonomous systemincludes a tracking and command system having a transceiver, anoperational area imager, a surface-based craft path planning modulecoupled to the operational area imager and the transceiver. The systemfurther includes a plurality of surface-based craft coupled to thetracking and command system through the transceiver.

In another aspect of the invention, the multi-agent autonomous systemfurther includes a surface-based craft position module and areconnaissance target identification module coupled to the operationalarea imager and the path planning module.

In another aspect of the invention, the surface-based craft furtherinclude instrument suites.

In another aspect of the invention, the tracking and command system isairborne.

In another aspect of the invention, the tracking and command systemincludes a processor and a memory coupled to the processor. The memoryis used to store program instructions executable by the processor. Theprogram instructions include generating an image of an operational area;generating a path for the surface-based craft using the image;generating a set of craft commands for the surface-based craft using thepath; and transmitting the craft commands to the surface-based craft viaa transceiver.

In another aspect of the invention, the program instructions forgenerating a path for the surface-based craft further includeidentifying the surface-based craft's position within the operationalarea using the image, identifying a target using the image, anddetermining a path between the craft's position and the target.

In another aspect of the invention, the surface-based craft furtherincludes an instrument suite and the program instructions for generatinga path for the surface-based craft further include receivingsurface-based information collected from the instrument suite by thecraft, transmitting the surface-based information from the craft to thetracking and command system, and generating a path for the surface-basedcraft using the surface-based information and the image.

In another aspect of the invention, the surface-based craft furtherincludes a proximity sensor, a drive mechanism, and a controller coupledto the proximity sensor and drive mechanism. The controller isprogrammed to avoid collisions using signals received from the proximitysensor.

In another aspect of the invention, a multi-agent autonomous systemincludes a self-propelled surface-based craft deployed in an operationalarea and a tracking and command system coupled to the plurality ofsurface-based craft. The tracking and command system includes an imagerfor generating an image of the operational area coupled to a pathplanner for planning a path for the surface-based craft using the image.A craft command generator uses the path to generate craft commands foruse by a craft commander which transmits the craft commands to thesurface-based craft

In another aspect of the invention, the multi-agent autonomous systemfurther includes a craft position determiner for determining theposition and heading of the surface-based craft using the image and areconnaissance target identifier for identifying targets using theimage.

In another aspect of the invention, the surface-based craft furtherinclude instrument suites for collection of surface-based information.

In another aspect of the invention, the surface-based craft furtherinclude a proximity sensor for detecting an object in close proximity tothe surface-based craft and a controller, responsive to the proximitysensor, for avoiding a collision with the object.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features, aspects, and advantages of the presentinvention will become better understood with regard to the followingdescription, appended claims, and accompanying drawings where:

FIG. 1 a is a block diagram of a multi-agent autonomous system inaccordance with an exemplary embodiment of the present invention;

FIG. 1 b is a block diagram illustrating the use of a multi-agentautonomous system to explore an area in accordance with an exemplaryembodiment of the present invention;

FIG. 2 is a block diagram illustrating communication links within amulti-agent autonomous system in accordance with an exemplary embodimentof the present invention;

FIG. 3 is a block diagram of an agent or craft in accordance with anexemplary embodiment of the present invention;

FIG. 4 is a block diagram of a craft tracking and command system inaccordance with an exemplary embodiment of the present invention;

FIG. 5 is a software module diagram of a multi-agent autonomous systemin accordance with an exemplary embodiment of the present invention;

FIG. 6 is a process flow diagram for a multi-agent autonomous system inaccordance with an exemplary embodiment of the present invention;

FIG. 7 a is a block diagram of a craft imaged in an environment by acraft tracking and command system in accordance with an exemplaryembodiment of the present invention;

FIG. 7 b is a block diagram of a craft, targets, and obstaclesidentified in an environment by a craft tracking and command system inaccordance with an exemplary embodiment of the present invention;

FIG. 7 c is a block diagram of a planned craft path in accordance withan exemplary embodiment of the present invention;

FIG. 8 is a block diagram depicting an iterative path planning sequencein accordance with an exemplary embodiment of the present invention;

FIG. 9 is a process flow diagram of an image processing system inaccordance with an exemplary embodiment of the present invention;

FIG. 10 is a process flow diagram of a craft command process inaccordance with an exemplary embodiment of the present invention; and

FIG. 11 is an architecture diagram of a data processing apparatussuitable for use as a craft tracking and command system in accordancewith an exemplary embodiment of the present invention.

DETAILED DESCRIPTION

A multi-agent autonomous system includes numerous and redundant,specialized, low cost, expendable, sensor-equipped self-propelledsurface-based reconnaissance craft, that collectively can cover vastexpanses of terrain in a relatively short amount of time. Furthermore,in utilizing an overhead view, several significant mission advantagesemerge, such as: enhanced surface-based craft safety (e.g., cliffs arevisible long before the rover gets there); more efficient,air-controlled path planning for surface-based craft, thus increasedmission science return; and enhanced control of surface-based crafttraverses in unknown terrain.

An integrated air-ground multi-agent autonomous remote planetary surfaceexploration allows truly autonomous science exploration missions withair and ground-based agents in real environments. Furthermore, anoverhead perspective allows for unprecedented safety of surface-basedcraft, i.e., non-traversable terrain (e.g., cliffs) is detected longbefore a surface-based craft gets there. Also, the overhead view allowsfor much more efficient path planning simply because more terrain isvisible. This is particularly important when surface-based craft leavean operational area imaged during a descent onto a planetary surface.Optimized path planning leads to increased mission objective return. Theadvantage of having an overhead view reduces drastically the planningeffort necessary to navigate the surface-based craft and thus allows forcommanding multiple surface-based craft with almost no additionaleffort.

The multi-agent autonomous system can be applied to a variety ofmissions, such as: mine-sweeping operations; clean-up operations inhazardous environments (e.g., chemical plants, nuclear plants, etc.);scientific operations such as sample detection and sample return (e.g.,search for meteorites in Antarctica); and military reconnaissanceoperations in hostile environments.

FIG. 1 a is a block diagram of a multi-agent autonomous system inaccordance with an exemplary embodiment of the present invention. Amulti-agent autonomous system includes an air-borne tracking and commandsystem 100 a that may be held aloft by a support platform such as alighter-than-air aircraft or balloon 101 a. The tracking and commandsystem is in communication with one or more surface-based craft oragents, such as craft 102 a and 104 a. Communications may beaccomplished by radio control communications links 103 a and 105 a.

Each craft includes an instrument suite, such as instrument suites 108 aand 110 a that are used by the craft to obtain information about anenvironment or operational area that the craft are deployed in. Forexample the instrument suite may include an optical camera for takingimages of an area immediately around each of the craft. Other imagingsystems and instruments may be employed as well. The sensor signals fromthe instrument suite are transmitted by the craft to the tracking andcommand system.

The tracking and command system includes its own instrument suite 112 a.The tracking and command system uses its instrument suite to take sensorreadings of the craft and the environment surrounding the craft. Forexample, the tracking and command system's instrument suite may includean operational area imager such as an optical camera for capturingimages of the craft environment and the craft within the environment.

In operation, the tracking and command system receives signals from itsinstrument suite including environment and craft signals indicating theposition and heading of each craft in the environment. The tracking andcommand system uses the signals to generate a set of craft movementcommands that are transmitted to the craft. The craft respond to thecraft movement command signals by moving in the commanded manner throughthe environment. The tracking and command system also generates craftcommand signals commanding the craft to employ their own instrumentsuites to investigate objects or targets within their environment.

As the tracking and command system is airborne above the craftenvironment, the tracking and command system has a much larger field ofview than the craft. As such, the tracking and command system may detectvarious obstacles and targets in the environment that the surface-basedcraft may not be able to detect. By having a larger field of view of theenvironment, the tracking and command system may select targets forexploration by the craft that the surface-based craft are unable toselect simply because the surface-based craft cannot detect thepotential target in the first place. In addition, the tracking andcommand system may use its larger field of view to more accuratelydetermine a path for each craft around obstacles in the craft'senvironment.

The aircraft supporting the tracking and command system may furtherinclude a thrust generating element 114 a for maneuvering the aircraft.Maneuvering the aircraft may be useful for both ensuring the aircraftremains in a desired area or for moving the multi-agent autonomoussystem to a new operational area. In addition, various forms of aircraftmay be used as a platform for the tracking and command system. Forexample, the aircraft may be some other type of lighter-than-airaircraft such as a blimp. The aircraft may also be a heavier-than-airaircraft such as a glider, airplane, or helicopter.

In another tracking and command system support platform in accordancewith an exemplary embodiment of the present invention, the platform is atethered lighter-than-air aircraft. The aircraft may be tethered eitherdirectly to the surface, and thus fixed in place, or may be tethered toone of the surface-based craft. If tethered to one of the surface-basedcraft, the support platform and tracking and command system may travelto different locations along with the surface-based craft.

In another embodiment, the deployed agents may include one or morenon-mobile sensors, such as sensor 109 a, that are not self-propelled.These additional sensors may be used to augment or replace thesurface-based information collected by the mobile surface-based craft.

FIG. 1 b is a block diagram illustrating the use of a multi-agentautonomous system to explore an area in accordance with an exemplaryembodiment of the present invention. One or more multi-agent autonomoussystems, such as multi-agent autonomous systems 116 a and 116 b, may becoupled to a satellite 118 for exploration of a large area. Thesatellite may include its own instrument suite 119 for imaging the areabeing explored by the multi-agent autonomous systems. Informationcollected by the multi-agent autonomous systems and the satellite usingits instrument suite is integrated 120 to generate a database 122including views of the explored area generated by the various componentsof the exploration system. For example, information supplied by thesurface-based craft 124 may include the detailed images of anoperational area. However, since the surface-based craft have only alimited view, the actual area imaged by the surface-based craft may besmall. Information supplied by the airborne tracking and command systems126 may include images of a large portion of the explored area. However,as the airborne tracking and command systems are more elevated andfurther away from the explored area with respect to the surface-basedcraft, the information supplied by the tracking and command systems maybe less detailed than the information collected by the surface-basedcraft. Information supplied by the satellite may include images from theentire explored area, but may not be as detailed as the informationsupplied by the tracking and command systems. By combining informationfrom the components of the exploration system, a large area may beexplored with a high level of detail.

Portions of the database of information may be transmitted 130 to thesatellite and distributed to the coupled multi-agent autonomous systems.In this way, a multi-agent autonomous system may use informationcollected by the satellite or another autonomous system to aid inselection of targets to be explored by the surface-based craft.

FIG. 2 is a block diagram illustrating communication links within anexploration system using a multi-agent autonomous system in accordancewith an exemplary embodiment of the present invention. A tracking andcommand system 100 a receives an initiation signal 200 from a satellite118. The tracking and command system may also receive information 201about an area to be explored such as images generated by the satellite'sinstrument suite 119. In response to the initiation signal, the trackingand command system uses its own instrument suite 112 a to image the areato be explored. The tracking and command system uses the informationreceived from the satellite and its own imaging information to identifytargets and obstacles in the area to be explored. Once the targets andthe objects have been identified, the tracking and command systemgenerates a path for a craft 104 a to follow to get from the craft'scurrent position to a target while avoiding any obstacles. The trackingand command system uses the path to generate and transmit craft commandsignals 202 to the craft. The craft responds to the command signalsuntil it reaches a target. At the target, the craft uses its owninstrument suite 110 a to collect surface-based information about thetarget. The craft transmits the information about the target 204 to thetracking and command system. The tracking and command system in turntransmits its own imaging information as well as the craft'ssurface-based target information 206 to the satellite for integrationinto a database as previously described.

In addition to collecting information about targets and responding tocraft commands from the tracking and command system, the craft may alsouse internal control logic to internally manage (208) collisionavoidance. For example, the craft may include proximity sensors used todetect objects or other craft in its immediate vicinity. By usingsignals generated from the proximity sensors, the craft may avoidcollisions with objects that the tracking and command system may not beable to detect. In a similar manner, the tracking and command system maygenerate (210) its own navigational commands in order to travel to a newarea for exploration or maintain its position within an area ofexploration.

As depicted, the multi-agent autonomous system is a multilayered andhierarchal system. For example, the surface-based craft constitute onelayer, the tracking and command system constitutes another layer, andthe satellite constitutes yet another layer. Each layer provides bothinformation inputs from specific instrument suites and also includescomputational elements. The exact distribution of the instrument suites,computational elements, and even the number of layers may be altered.For example, an extra airborne layer may be added to command thetracking and command system to relocate. In addition, the computationsperformed by the tracking and command system may be performed by asurface-based craft or base station. Finally, the satellite may be usedto track and command the surface-based craft without having anintervening airborne instrumented or processing element.

FIG. 3 is a block diagram of a surface-based agent or craft inaccordance with an exemplary embodiment of the present invention. Acraft 102 includes a controller 300 having programming instructions 301for controlling the operation of the craft. The controller is coupled toa transceiver 302 and antenna 304 for receiving and transmitting signals305 from a tracking and command system. The controller is furthercoupled to an instrument suite 204 (or “sensor suite”) used to analyzethe craft's environment. The sensor suite may include imaging sensorssuch as video cameras for capturing images of the environment fortransmission to the tracking and command system.

The instrument suite may further include proximity sensors used to senseobjects or other craft in the immediate vicinity of the craft. Thecraft's controller may be programmed to use signals received from theproximity sensors to avoid collisions with obstacles or other craft.

The controller is further coupled to a drive controller 306 used tooperate the craft's drive mechanism 308. In one surface-based craft inaccordance with an exemplary embodiment of the present invention, thesurface-based craft includes a tread drive mechanism. In othersurface-based craft, the drive mechanism may include wheels, legsoperable to move the craft, surface effect drives, etc. In addition, thesurface-based craft may be operable on the surface of a body of water.Such a craft may be amphibious or be a boat or ship.

In one multi-agent autonomous system in accordance with an exemplaryembodiment of the present invention, an individually addressable RadioControlled (R/C) robot unit is used as a surface-based craft. The robotunit is supplied by Plantraco Ltd. of Saskatoon, Canada, and is known asa “Telecommander Desktop Sciencecraft”.

Each Telecommander Desktop Sciencecraft system includes a sciencecraftunit and a Universal Serial Bus (USB)-controlled R/C commanding unit. Atracking and command system issues commands to the deployed sciencecraftvia the USB-connected R/C control unit. Each sciencecraft operates on aunique R/C frequency.

In addition, the Telecommander Desktop Sciencecraft contains anintegrated onboard color video camera. When the sciencecraft arrives ata destination, it can relay in-situ images of the target back to thetracking and command system for science analysis.

FIG. 4 is a block diagram of a craft tracking and command system inaccordance with an exemplary embodiment of the present invention. Atracking and command system 100 includes a controller 400 forcontrolling the operations of the tracking and command system. Thecontroller is coupled to a satellite transceiver 402 for communicatingwith a satellite 118. The controller is further coupled to asurface-based craft transceiver 404 used to communicate with a surfacebased craft 102. The controller is further coupled to an instrumentsuite interface 406. The controller uses the instrument suite interfaceto control the operations of an instrument drive 408 mechanicallycoupled to an instrument suite 200. The instrument drive may be used toaim, focus, and adjust the magnification of imaging sensors such asoptical cameras. The instrument suite is electrically coupled to theinstrument suite interface for use by the controller in collection ofinformation used by the tracking and command system to track thesurface-based craft and generate paths for the surface-based craft.

If the tracking and command system is mounted on a platform that iscapable of transporting the tracking and command system betweenoperational areas, the controller is further coupled to a platform driveinterface 410. The platform drive interface is further coupled to aplatform drive mechanism 412.

FIG. 5 is a software module diagram of a multi-agent autonomous systemin accordance with an exemplary embodiment of the present invention. Thetracking and command system includes a communications module 500 forreceiving commands from a satellite or other external system. Once aninitiate signal is received, the tracking and command system uses anoverhead image capturing module 501 to capture an image of anoperational area. The image 502 is transmitted to a reconnaissance craftposition module 504. The reconnaissance craft position module uses theimage to determine the location and heading 506 of a surface-based craftin the area of operation. The image is further used by an imagingprocessing module 512 to identify any obstacles that may be in the areato be explored by generating a set of obstacle coordinates and outlinesor edges 514. A processed image 516 from the image processing module istransmitted to a feature detection module 518. The feature detectionmodule uses the processed image to demark image features 520 that aretransmitted to a reconnaissance and target identification module 522.The reconnaissance and target identification module identifies featuresof interest in the operational area. Those features of highest interestare identified as targets and a set of target positions 523 isgenerated.

A path planning module 508 receives the reconnaissance craft locationinformation 506, the obstacle location and edge information 514, andtarget positions 523. The path planning module uses this information toplan a path for the craft and generate a set of craft commands 524. Thetracking and command system then uses a craft communication module 526to transmit the craft commands to a craft.

The craft communication module is also used to receive transmissionsfrom a craft. The transmissions may include information collected by thecraft using the craft's own instrumentation suite, such as a cameraimage 528. This information is provided to the path planning modulealong with the information taken from the tracking and command system.The path planning module may use the craft instrument suite informationto further refine the craft commands to be sent to the craft.

The software modules continuously process information received from thetracking and command system instrument suite and the craft instrumentsuite as indicated by feedback loop 526. This generates a constantstream of craft commands that are transmitted to the surface-based craftas they travel within the operational area.

The path planning module forwards the craft's instrument suiteinformation 530 to an in-situ measurement module 532. The in-situmeasurement module analyzes the information received from thesurface-based craft and forwards the resultant measurements 533 to anintelligence reconnaissance output module 534. The intelligencereconnaissance output module transmits the craft information to externalentities for integration into a previously described database 122 (ofFIG. 1 b).

FIG. 6 is a process flow diagram for a multi-agent autonomous system inaccordance with an exemplary embodiment of the present invention. Theprocess flow diagram illustrates the processing sequence of the softwaremodules of FIG. 5. A tracking and command system receives an explorationinitiation signal 600 and iterates (602) the following sequence ofoperations. In a science and imaging process phase 604, the tracking andcommand system collects images about an operational area includingsurface-based craft deployed in the operational area. In a craft pathdetermination phase (606) the tracking and command system determines apathway to be followed by a craft in the operational area. In a craftcommand phase (608), the tracking and command system commands a craft102 in such a way as the craft moves along a designated path betweenobstacles and towards a target. The process repeats iteratively 602 suchthat the craft follows a pathway to a target location.

In slightly more detail, the science and imaging process phase furtherincludes receiving an image 609 of an operational area including imagesof any craft deployed in the operational area. The tracking and commandsystem determines (610) from the image the location and heading of anycraft in the operational area. The tracking and command system alsoacquires (612) the image and processes (614) the image to determine(616) obstacles and targets within the operational area.

During the craft path determination phase, the tracking and commandsystem uses the obstacles, targets, and craft current position todetermine (618) a navigation baseline for each craft deployed in theoperational area. The tracking and command system then generates (620) apathway for each craft to follow so that the craft may avoid theidentified obstacles and reach a target.

FIG. 7 a is a semi-schematic drawing of a craft imaged in an environmentby a craft tracking and command system in accordance with an exemplaryembodiment of the present invention. The image 700 includes an imagetaken of a craft 702. The craft includes markings or other indica thatare visible to the tracking and command system's instrument suite. Themarkings may be used by the tracking and command system to determine acraft's heading. The image further includes images of obstacles, such asobstacles 704 a, 704 b, and 704 c, that may impede the progress of thecraft as the craft moves around within the imaged area. The imagefurther includes images of targets, such as 710 a and 710 b, that thetracking and command system may determine are of interest. The trackingand command system will use the image to determine a path for the craftto take to reach the targets while avoiding the obstacles.

FIG. 7 b is a semi-schematic drawing of a craft, targets, and obstaclesidentified in an environment by a craft tracking and command system inaccordance with an exemplary embodiment of the present invention. Thetracking and command system identifies the craft 702 in the image byextracting features from the image and analyzing the features. Once thetracking and command system has identified the craft, as exemplified bythe box 712 a, the tracking and command system can determine the craftposition. In addition, the tracking and command system uses the indiciaon the craft to determine the heading of the craft.

The tracking and command system also separates other features within theimage into obstacles and targets. A target may be separated from anobstacle by considering a feature space including the object's size,shape, albedo, surface irregularities, etc. Once an object has beenidentified as a target, as exemplified by box 712 b around target 710 a,the tracking and command system can determine the target's position. Thetracking and command system continues processing features in the imageto identify other targets, such as target 710 b, as exemplified bytriangle 712 c. Other features identified by the tracking system, suchas features 704 a, 704 b, and 704 c, are identified as obstacles to beavoided by the craft.

FIG. 7 c is a semi-schematic drawing of a planned craft path inaccordance with an exemplary embodiment of the present invention. Thecraft is commanded by the tracking and command system to travel throughthe imaged operational area through a sequence of moves. For example,the craft 702 may be commanded to rotate a specified number of degreesin order to adjust its heading so that the craft is pointed toward itsnext target 710 a. The craft is then commanded to travel a certaindistance along its path, thus defining a segment 714 b of a path. Thepath segment avoids obstacles 704 a and 704 b and takes the craft to itsfirst target. When the craft arrives at the first target, the craft isthen commanded to rotate and travel along path segment 714 a to a secondtarget 710 b, while avoiding obstacle 704 c. In this way, the craft iscommanded to travel throughout an operational area, traveling fromtarget to target without becoming obstructed by an obstacle. As thetracking and command system has information about a large area, it mayintelligently command a craft through the large area without placing thecraft into an untenable position.

FIG. 8 is a semi-schematic drawing depicting an iterative path planningsequence in accordance with an exemplary embodiment of the presentinvention. A craft 702 may be commanded to pass through an area totarget 710 b. As the tracking and command system may take a sequence ofimages in order to command the craft, the tracking and command systemmay issue a sequence of craft commands adjusting the craft's paththrough the environment in incremental steps. In this way, themulti-agent autonomous system may correct any errors that occur in thecraft's progress. For example, the tracking and command system maycommand the craft to travel along path segment 800 a. The tracking andcommand system issues a rotation command and a move forward command tothe craft. As the craft moves forward, it may deviate from the desiredpath as indicated by segment 800 b. In subsequent iterative steps, thetracking and command system takes images of the operational area andcalculates additional segments for the path. For example, the trackingand command system may command the craft to rotate and follow pathsegment 802 a only to discover that the craft has traveled along pathsegment 802 b. Upon each iteration, the tracking and command system mayissue commands guiding the craft along successive segments, such as 800a, 802 a, and 804 a, each time correcting the path of the craft when thetracking and command system determines that the craft has actuallytraveled along other path segments, such as 800 b, 802 b, and 804 b.Thus, through successive craft commands, the tracking and command systemguides the craft along successive path segments, resulting in the craftarriving at the desired target 710 b.

FIG. 9 is a process flow diagram of an image processing system inaccordance with an exemplary embodiment of the present invention. Atracking and command system processes images from its instrument suiteto determine a path for a craft. The tracking and command system does soby receiving an image and extracting information from the image in asequence of passes, saving intermediate results in a temporarydatastore. In a first pass, the tracking and command system converts(900) an input file image 902 into an image file 903 including colorinformation and an image file 904 wherein the colors have been mapped toa grayscale. The tracking and command system then extracts (906) featureinformation 908 from the grayscale image file. The tracking and commandsystem uses the feature information to identify (910) obstacles andtargets and extract locations 912 of the obstacles and targets. Thetracking and command system then uses the image file and the locationsto generate (914) a mark feature file 916 of features that the trackingand command system may find to be interesting.

The tracking and command system next uses the image file and thelocation file to generate (918) a color file 920 wherein the color ofeach object, such as obstacles or targets, is indicated. The trackingand command system uses the image file and the location file to generate(922) an albedo file wherein the albedo of each object, such asobstacles or targets, is indicated.

The image file, color file, and albedo file are used by the tracking andcommand system to generate (924) a target image file 932 and a targetfile 934. The location file is finally used to generate (936) anavigation file 938 and a science target file 940 for use in determininga path for a craft.

Algorithms for extracting features from an image, including extractingthe position and heading of a man-made object in a natural environment,are well known in the art of robotics. Each algorithm has its ownadvantages and weaknesses. As such, multi-agent autonomous systems inaccordance with exemplary embodiments of the present invention mayinclude different feature extraction algorithms dependent on the needsof a researcher or explorer. In one multi-agent autonomous system inaccordance with an exemplary embodiment of the present invention,operational area analysis is performed by a suite of imaging processingprograms entitled “Automated Geologic Field Analyzer” developed at theJet Propulsion Laboratory of Pasadena, Calif. In addition, crafttracking is performed using a neural network using adaptive Radial BasisFunctions (RBFs) for target recognition and tracking as described in“Real-time automatic target recognition using a compact 512×512grayscale optical correlator, T. Chao, H. Zhou, G. F. Reyes, J. Hanan;Proceedings of SPIE Vol. #5106, the contents of which are herebyincorporated by reference as if stated fully herein.

FIG. 10 is a process flow diagram of a craft command process inaccordance with an exemplary embodiment of the present invention. Atracking and command system uses a craft command process to generatepaths for craft deployed in an operational area. From the paths,specific craft commands are generated. To generate a path, a navigationbaseline process 618 receives a navigation file 938 and science goalfile 940 generated in the previously described image processing processof FIG. 9. The navigation baseline process generates a landscape map1000 and a navigation map 1002. A pathway generation process 620 usesthe landscape map, the navigation map, and the target file 934 togenerate a pathway map 1004. From the pathway map, individual craftcommands are generated that are transmitted to a craft 102 in a craftcommanding process 610.

Algorithms for determining paths for a robot in an accuratelycharacterized environment are well known in the art of robotics. Eachalgorithm has its own advantages and weaknesses. As such, multi-agentautonomous systems in accordance with exemplary embodiments of thepresent invention may include different path finding algorithmsdependent on the needs of a researcher or explorer. In one multi-agentautonomous system in accordance with an exemplary embodiment of thepresent invention, path finding is performed using a line intersectionmethod. Other algorithms may include weighted graph algorithms, thewell-known A* method, etc.

FIG. 11 is an architecture diagram of a data processing apparatussuitable for use as a craft tracking and command system controller inaccordance with an exemplary embodiment of the present invention. Thedata processing apparatus 400 includes a processor 1100 coupled to amain memory 1102 via a system bus 1104. The processor is also coupled toa data storage device 1106 via the system bus. The storage deviceincludes programming instructions 1108 implementing the features of atracking and command system as described above. In operation, theprocessor loads the programming instructions into the main memory andexecutes the programming instructions to implement the features of thetracking and command system.

The data processing system may further include a plurality ofcommunications device interfaces 1110 coupled to the processor via thesystem bus. A tracking and command system controller, hosted by the dataprocessing system, uses the communications device interfaces tocommunicate with surface-bound craft or satellite as previouslydescribed.

The data processing system may further include an instrument interface1114 coupled to the processor via the system bus. A tracking and commandsystem controller, hosted by the data processing system, uses theinstrument interface to generate control signals for a tracking andimaging instrument suite as previously described. In addition, theinstrument interface is used by the tracking and command systemcontroller to receive instrument suite sensor signals such as images ofthe operational area.

The data processing system may further include a platform driveinterface 1116 coupled to the processor via the system bus. A trackingand command system controller, hosted by the data processing system,uses the platform drive interface to generate control signals for aplatform supporting the tracking and command system.

Although this invention has been described in certain specificembodiments, many additional modifications and variations would beapparent to those skilled in the art. It is therefore to be understoodthat this invention may be practiced otherwise than as specificallydescribed. Thus, the present embodiments of the invention should beconsidered in all respects as illustrative and not restrictive, thescope of the invention to be determined by any claims supported by thisapplication and the claims' equivalents rather than the foregoingdescription.

1. A method of gathering and processing information from an areacomprising: providing a first sensor with a first perspective of thearea; providing a second sensor with a second perspective of the area;providing a processing module in communication with the first sensor andthe second sensor; sensing a first characteristic of the area with thefirst sensor to generate a first dataset; sensing a secondcharacteristic of a portion of the area with the second sensor togenerate a second dataset; and generating a derived dataset by theprocessing module integrating the first dataset and the second dataset.2. The method of claim 1, further comprising transmitting the deriveddataset to a remote location.
 3. The method of claim 1, furthercomprising transmitting the first dataset, the second dataset, or bothto a remote location.
 4. The method of claim 1, wherein the firstdataset includes a different level of detail than the second dataset. 5.The method of claim 1, wherein at least one of the first dataset and thesecond dataset is imaging information.
 6. The method of claim 1, whereinthe derived dataset is imaging information.
 7. The method of claim 1,wherein the first characteristic and the second characteristic areidentical.
 8. The method of claim 1, wherein the first characteristicand the second characteristic are different.
 9. The method of claim 1,wherein the first characteristic is albedo.
 10. The method of claim 1,wherein the first perspective and the second perspective are identical.11. The method of claim 1, wherein the first perspective and the secondperspective are different.
 12. The method of claim 1, wherein the firstperspective is a spatio-temporal perspective.
 13. The method of claim 1,wherein the portion of the area is a smaller size than the area.
 14. Themethod of claim 1, wherein the portion of the area is the same size asthe area.
 15. The method of claim 1, further comprising detecting afeature in the area by analyzing one or more of the first dataset, thesecond dataset, or the derived dataset.
 16. The method of claim 15,wherein the feature is a target for investigation.
 17. The method ofclaim 16, further comprising investigating the target.
 18. The method ofclaim 15, wherein the feature is an obstacle.
 19. The method of claim15, wherein the feature is a location of the first sensor or the secondsensor.
 20. The method of claim 15, wherein the feature is a directionalheading of the first sensor or the second sensor.
 21. The method ofclaim 15, wherein the feature is a velocity of the first sensor or thesecond sensor.
 22. The method of claim 1, wherein the first sensor, thesecond sensor, or both are mobile.
 23. The method of claim 1, whereinthe first sensor, the second sensor, or both are immobile.
 24. Themethod of claim 1, further comprising comparing at least two datasetsselected from the group consisting of the first dataset, the seconddataset, and the derived dataset.
 25. A method of gathering andprocessing information from a first area and a second area differentfrom the first area comprising: providing a first sensor with aperspective of the first area; providing a second sensor with aperspective of the second area; providing a processing module incommunication with the first sensor and the second sensor; sensing afirst characteristic of the first area with the first sensor to generatea first dataset; sensing a second characteristic of the second area withthe second sensor to generate a second dataset; and automaticallycomparing the first dataset and the second dataset by the processingmodule.
 26. A method of gathering and processing information from afirst area and a second area different from the first area comprising:providing a first sensor with a perspective of the first area; providinga second sensor with a perspective of the second area; providing aprocessing module in communication with the first sensor and the secondsensor; sensing a first characteristic of the first area with the firstsensor to generate a first dataset; sensing a second characteristic ofthe second area with the second sensor to generate a second dataset;generating a derived dataset by the processing module integrating thefirst dataset and the second dataset; and automatically comparing atleast two datasets selected from the group consisting of the firstdataset, the second dataset, and the derived dataset by the processingmodule.